TY - GEN
T1 - Control of Multiple Passive-Follower Type Robots Based on Feasible Braking Control Region Analysis
AU - Hirata, Yasuhisa
AU - Kimura, Ken
AU - Matsuzaki, Shin
AU - Ogawa, Naoko
AU - Kubota, Takashi
PY - 2018/9/10
Y1 - 2018/9/10
N2 - Ahstract- In this study, we propose a development and formation control of a passive mobile robot equipped only with servo brakes and no motors. The developed passive mobile robot can move forward by utilizing an external pulling force, and steers itself by controlling the servo brakes attached to each wheel. Systems composed of multiple mobile robots are very effective at exploring vast areas. However the coordination and simultaneous control of several robots utilizing simple information is a difficult task. Therefore we propose a leader follower architecture composed of multiple passive follower robots tethered to one active leader. In this paper, we first introduce the developed passive mobile robot. Then, we analyze the fundamental control method of this passive mobile robot from the perspective of the feasible braking control region, which considers the slip of the passive robot and the limitation of the external pulling force from the active leader. Lastly, a control law for the servo brakes attached to each wheel is proposed, followed by a feasibility study to determine whether the passive followers can stay in formation by controlling the servo brakes with the proposed control law.
AB - Ahstract- In this study, we propose a development and formation control of a passive mobile robot equipped only with servo brakes and no motors. The developed passive mobile robot can move forward by utilizing an external pulling force, and steers itself by controlling the servo brakes attached to each wheel. Systems composed of multiple mobile robots are very effective at exploring vast areas. However the coordination and simultaneous control of several robots utilizing simple information is a difficult task. Therefore we propose a leader follower architecture composed of multiple passive follower robots tethered to one active leader. In this paper, we first introduce the developed passive mobile robot. Then, we analyze the fundamental control method of this passive mobile robot from the perspective of the feasible braking control region, which considers the slip of the passive robot and the limitation of the external pulling force from the active leader. Lastly, a control law for the servo brakes attached to each wheel is proposed, followed by a feasibility study to determine whether the passive followers can stay in formation by controlling the servo brakes with the proposed control law.
UR - http://www.scopus.com/inward/record.url?scp=85063159958&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2018.8460637
DO - 10.1109/ICRA.2018.8460637
M3 - Conference contribution
AN - SCOPUS:85063159958
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5056
EP - 5061
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -